/*
 * demo.h
 *
 *  Created on: Nov 26, 2012
 *      Author: michiel
 */

#ifndef DEMO_MODEL_H_
#define DEMO_MODEL_H_

#include <ros/ros.h>
#include <std_msgs/Int32.h>

#include "topic/topic.h"
#include "comm/eyes_msg.h"

class DemoModel {
	protected:
		ros::NodeHandle nh;
		ros::Publisher ears_pub;
		ros::Publisher eyes_pub;
		ros::Publisher trunk_pub;
		ros::Publisher eyebrows_pub;

		int ears_state;
		int trunk_state;
		int brows_state;

		float eyes_pitch_state;
		float eyes_yaw_state;
	public:
		DemoModel() : nh("") {
			ears_state				= 0;
			trunk_state				= 0;
			brows_state				= 0;

			eyes_pitch_state	= 0.0;
			eyes_yaw_state		= 0.0;
		}
		~DemoModel() {
			nh.shutdown();
		}
		int flip(int number) {
			return 1 - number;
		}
		void init();
		void spin();
};


#endif /* DEMO_H_ */
